ME Advanced Manufacturing Technologies Robot Usage and Commands Summary

Transcription

1 ME Advanced Manufacturing Technologies Robot Usage and Commands Summary Start-up and Safety This guide is written to help you safely and effectively utilize the CRS robots to complete your labs and project. Please read it thoroughly before attempting to use the robots. 1) For safety, depress the E-stop prior to powering up the controller (NOTE: BOTH the controller and pendant E-stops will cut power to the arm when depressed.) 2) Power-up the robot controller. 3) When you want to use the robot, release the E-stop 4) After releasing the E-stop, press the button on the controller for Arm Power (this sends power to the arm to enable movement. 5) By default, the pendant has control of the robot upon power-up. 6) Release control from the pendant by pressing the red ESC button until the pendant prompts for command release. Confirm by pressing F1 on the pendant. NOTE: Any time an E-stop is pressed or an error occurs that makes the robot stop or crash; power to the arm will be disabled. Be sure to check that the light on the Arm Power button is lit whenever you need the robot to move. CAUTION!!!! Please make sure you are ready to hit the E-stop before moving the robot as it can operate at high-speed and cause damage and/or injury! - 1 -

2 Homing the Robot There are encoders that allow the controller to determine the robot location at any time. Because they are relative position encoders, they have no way of knowing what position the robot is at upon initial power-up. As such, they must be initialized or homed before operation. To home the robot, follow these steps: 1) Release control from the pendant to RobComm by pressing the red ESC button until the pendant prompts for command release. Confirm by pressing F1 on the pendant. 2) In RobComm, limp the robot joints by typing limp. CAUTION!!! Make sure someone is supporting the robot when this command is used to prevent crashing the manipulator into the table. 3) Once in a limp state, each joint must be manipulated to line up the encoder markers. These appear as a black triangle ( ) pointing towards a stretched triangle ( ). You want to ensure that the triangle points to somewhere in the middle of the stretched triangle. Do this for all 5 joints. Be careful when moving other joints to maintain the ones you have already lined up. 4) With the 5 joints lined up, lock the joints using the nolimp command in RobComm. 5) Home the robot using the home command in RobComm. The robot will go through its homing procedure, and once completed, control will be returned to you in RobComm. An indicator light on the controller lets you know whether or not the robot has been homed yet. 6) To check whether or not the robot has homed properly, use the ready command to move the robot to a pre-determined ready position: (J1, J2, J3, J4, J5) = (0 o, 90 o, 0 o, 0 o, 0 o ) Note: angles given are with respect to horizontal 7) If the robot does not move to this exact position, then homing must be performed again

3 RobComm Command List To run RobComm, select it from Start/Programs/CRS Robotics/Robcomm3 Click on the computer icon to open up a terminal window. Inside this window, command of the robot is controlled by the pendant if you see $$ for a prompt, and the robot is under the RobComm control if you see $ for a prompt. There are a variety of commands available, both in the RobComm window, and on the teach pendant. The following is a list of commands from inside of RobComm that you will need to understand and use. limp This causes all joints on the robot to release their braking, and effectively makes the robot go limp. Once limp, you can manually move each robot joint to a new position. CAUTION!!!! Please make sure you have someone holding the robot when you call the limp command to prevent the gripper from smashing into the table. nolimp This reactivates the braking system on the joints, and will prevent manual manipulation of the joints. pendant This command returns control of the robot back to the teach pendant from the RobComm window. At this point, the RobComm window can do nothing until control is given back to it from the teach pendant. home This will start the robot into its homing procedure. Be sure all joints all aligned before running this command. ready This will move the robot to a pre-described ready position. This position is (with respect to horizontal): J1, J2, J3, J4, J5 = (0, 90, 0, 0, 0 ) wact This command will allow you to retrieve the values of the 5 joints angles at the current position. You will be shown three sets of data: Pulses, Joints and World values. Joints are the angular position of the joints. This is the one we will be using. joint # angle where # is the joint number and angle is in degrees This command will allow you to choose the joint you wish to move, and specify the amount of movement in degrees. speed # - where # is the percentage of total speed at which to move - 3 -

4 This command allows you to adjust the speed of the movement of the robot. It is entered as a percentage of 100% maximum speed. CAUTION!!!! Please make sure you are ready to hit the E-stop before moving the robot as it can operate at high-speed and cause damage and/or injury! - 4 -

5 Visual C++ Functions Three functions are written for you in VC++ to allow you to command the robot. fmove_robot(theta1, theta2, theta3, theta4, theta5, speed): This function takes in five command joint angles and percentage speed at which to move. Execution of this function will command to robot to move according to these angles. The relationship between these input angles and kinematics convention angles is left as an exercise in the Robot Kinematics lab. CAUTION!!! Please use a low speed (ie. 10%) when testing to avoid damage/injury. As a precaution, be prepared to hit the E-stop in the event of a crash! GripOpen(force): Function takes in the percentage force applied by the grippers when open. GripClose(force): Function takes in the percentage force applied by the grippers when closed